Mobile robot and travelling method for the same

• US 9,162,355 B2
• Filed: 12/02/2010
• Issued: 10/20/2015
• Est. Priority Date: 12/03/2009
• Status: Active Grant

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Nakamura, Ryosuke, Amino, Azusa
• Primary Examiner(s): Nguyen, Bao Long T
• Application Number:
  US12/958,575
• Publication Number:
  US 20110137462A1
• Time in Patent Office: 1,783 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

This mobile unit suppresses lateral vibration produced when the mobile unit passes over a step. A stabilizer according to the present invention predicts contact timing at which the mobile unit makes contact with a step, which may be a bump or pit, using sensor information or map information, shifts the center of gravity of the mobile unit laterally by controlling actuators, and shifts the center of gravity laterally for the next step after detecting that the mobile unit has passed over the previous step.

Claims

1. A mobile robot, including a plurality of wheels suspended from a main body of the mobile robot and configured to travel on a floor surface, a drive mechanism configured to rotate the wheels, and a drive controller configured to control the drive mechanism, comprising:

actuators provided to adjust a distance between the mobile robot and the wheels thereof;

a suspension control unit configured to control the actuators;

a sensor configured to detect steps on the floor surface; and

a step prediction unit configured to predict the time at which a step, including at least one of a bump and a pit, makes contact with the wheels, and to predict a speed of the mobile robot;

wherein the suspension control unit is configured to control the actuators to shift a center of gravity of the mobile robot from the center of the mobile robot opposite to the direction in which the mobile robot inclines when the mobile robot passes over the step as a wheel of the mobile robot that makes contact with the step, then to shift the center of gravity of the mobile robot in the reverse direction then to shift the center of gravity of the mobile robot back to the center of the mobile robot after both wheels have passed over the step, and

wherein the suspension control unit is configured to adjust an amount of shift of the center of gravity of the mobile robot according to an interval of time, as predicted by the step prediction unit, at which the wheel and the another wheel make contact with a bump or pit.

2. The mobile robot according to claim 1,

wherein the height of, and direction to, the step are obtained from map information.

3. The mobile robot according to claim 1,

wherein the suspension control unit controls actuators of wheels so that the actuators of a left wheel and a right wheel have a difference in length L;

wherein the suspension control unit compares TR with TL, TL and TR denoting times at which the left wheel and the right wheel make contact with the step, respectively, to determine which of TR or TL is smaller, denoting which of the left wheel and the right wheel makes contact with the step first;

wherein if the right wheel makes contact with the step first, as denoted by the relationship (TR<

TL), then a provisional value for an amount of shift of the center of gravity of the mobile robot A′

is determined by the following formula;

A′

=K1*HR;

wherein if the left wheel makes contact with the step first, as denoted by the relationship (TL<

TR), then a provisional value for A′

is determined by the following formula;

A′

=K1*HL;

and wherein K1 denotes a positive value of a scalar quantity, HR denotes a step height corresponding to the selected TR, and HL denotes a step height corresponding to the selected TL.

4. A travelling method for a mobile robot including a step detecting sensor configured to detect a step including at least one of a bump and a pit, the method comprising:

detecting a direction to a step and a height of the step, obtained by the step detecting sensor;

measuring a distance between the step and the mobile robot;

calculating a contact timing at which the mobile robot makes contact with the step, based on a target travelling speed;

shifting a center of gravity of the mobile robot from the center of the mobile robot opposite to the direction in which the mobile robot inclines when the mobile robot passes over the step as a wheel of the mobile robot that makes contact with the step, by controlling, with a suspension control unit, the actuators upon contact with the step;

shifting the center of gravity of the mobile robot in the reverse direction; and

shifting the center of gravity of the mobile robot back to the center of the mobile robot after both wheels have passed over the step,

wherein an amount of shift of the center of gravity of the mobile robot is performed according to a predicted time at which the wheel and the another wheel make contact with a bump or pit.

5. The travelling method according to claim 4,

wherein the height of, and direction to, the step are obtained from map information.

6. The travelling method according to claim 4, wherein actuators of wheels are controlled by the suspension control unit so that the actuators of a left wheel and a right wheel have a difference in length L;

wherein TR with TL are compared by the suspension control unit, TL and TR denoting times at which the left wheel and the right wheel make contact with the step, respectively, to determine which of TR or TL is smaller, denoting which of the left wheel and the right wheel makes contact with the step first;

wherein if the right wheel makes contact with the step first, as denoted by the relationship (TR<

TL), then a provisional value for an amount of shift of the center of gravity of the mobile robot A′

is determined by the following formula;

A′

=K1*HR;

wherein if the left wheel makes contact with the step first, as denoted by the relationship (TL<

TR), then a provisional value for A′

is determined by the following formula;

A′

=K1*HL;

and wherein K1 denotes a positive value of a scalar quantity, HR denotes a step height corresponding to the selected TR, and HL denotes a step height corresponding to the selected TL.